For those of you who follow "Jack Crossfire"'s entertaining diaries of his autonomous helicopter projects. He struggled for more than a year to get a conventional helicopter to reliably fly autonomously, then switched to a quadcopter in hopes of a smoother path. Seems like it worked like a charm. In just a month, he's designed and built a platform and got it not just flying autonomously, but taking off and landing autonomously, too!
Here's his latest post with details.